Each pair of input images, for which the disparity estimation is to be done, needs to be rectified. However, the calibration parameters can be precomputed so that each image pair of the sequence is transformed in the same manner.
We use a standard calibration routine [1]} to compute two rectification maps for each image \(\mathcal {M}_\mathrm {x}, \mathcal {M}_\mathrm {y} \in \mathbb {N}_0^{W \times H}\) , which hold for each pixel \(\mathrm {p} = (x,y)\)  in the rectified image \(I_\mathrm {rect}\)  the coordinates of the corresponding pixel in the unrectified image \(I\) : \(I_\mathrm {rect}\left(\mathrm {p}\right) = I\left(\mathcal {M}_\mathrm {x}\left(\mathrm {p} \right), \mathcal {M}_\mathrm {y}\left(\mathrm {p} \right)\right)\) .
We have implemented a line buffer to store \(n = \mathrm {\operatornamewithlimits{abs\,max}}\left(\mathcal {M}_\mathrm {y}\right)\)  lines of the input pixel stream in order to buffer enough pixel data to compute the rectified image.
